iCub has 6 touch sensors on each hand (5 are on the last part of fingers and 1 is on the palm). In the iCub Simulator, output from these sensors is available at port /robotName/touch and it is streamed as a list of 12 values Example of output: [lpam] 0.0 [rpam] 0.0 [lind] 0.0 [lmid] [...]

After I’ve installed the YARP, iCub and iCub simulator I read 2 presentations that helped me to better understand how to control the robot via YARP. In the configuration file which is located at $ICUB_ROOT/app/simConfig/conf is set which parts of the body listen on the RPC port so you can connect to them via YARP. [...]